软电粘附足让微型无人机稳定停在光滑曲面，快速吸附又可瞬间释放。
Soft Electroadhesive Feet for Micro Aerial Robots Perching on Smooth and Curved Surfaces
- 设计可拉伸电粘附垫，采用波浪与同心圆电极结构，支持多种尺寸
- 剪切粘附力达3牛，部分接触时仍保持强附着，正常粘附力弱且依赖表面
- 实测无人机在平滑曲面反复吸附脱离，适合轻量飞行器可靠停驻
电粘附（EA）提供可电控开关的粘附力，是微型飞行器在光滑表面停驻的有前景机制。然而，适用于空中停驻的柔性可拉伸电粘附垫实际应用仍有限。本文提出：(i) 一种高效制造流程，可制备具有正弦波和同心圆电极的多尺寸柔性可拉伸电粘附垫；(ii) 基于Instron设备的实验对比，在0 kV（关闭）和4.8 kV（开启）条件下测试法向与剪切粘附力；(iii) 使用搭载电粘附足的Crazyflie四旋翼无人机，在平面与曲面基材上实现停驻演示。实验结果表明，剪切粘附力占主导，部分接触下可达约3 N，而法向粘附力相对较小，且高度依赖基材特性。Crazyflie原型机在光滑塑料表面（包括曲面）实现了重复性吸附，并在断电后快速脱离。这些结果凸显了软电粘附足在微型飞行器中实现轻量化、可靠停驻的巨大潜力。
原文摘要 · Abstract (English)
Electroadhesion (EA) provides electrically switchable adhesion and is a promising mechanism for perching micro aerial robots on smooth surfaces. However, practical implementations of soft and stretchable EA pads for aerial perching remain limited. This work presents (i) an efficient workflow for fabricating soft, stretchable electroadhesive pads with sinusoidal wave and concentric-circle electrodes in multiple sizes, (ii) a controlled experimental comparison of normal and shear adhesion under inactive (0 kV) and active (4.8 kV) conditions using an Instron-based setup, and (iii) a perching demonstration using a Crazyflie quadrotor equipped with electroadhesive feet on flat and curved substrates. Experimental results show that shear adhesion dominates, reaching forces on the order of 3 N with partial pad contact, while normal adhesion is comparatively small and strongly dependent on substrate properties. The Crazyflie prototype demonstrates repeatable attachment on smooth plastic surfaces, including curved geometries, as well as rapid detachment when the voltage is removed. These results highlight the potential of soft electroadhesive feet for lightweight and reliable perching in micro aerial vehicles (MAVs).
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